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Add last dangling changes before humble merge

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This commit is contained in:
yenon 2022-11-22 10:05:06 +01:00
parent 6b650fe594
commit 9c0c189a23
4 changed files with 215 additions and 29 deletions
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193
.gitignore vendored
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@ -1,6 +1,169 @@
# Created by https://www.toptal.com/developers/gitignore/api/ros2,c++,cmake,visualstudiocode,clion
# Edit at https://www.toptal.com/developers/gitignore?templates=ros2,c++,cmake,visualstudiocode,clion
# Created by https://www.toptal.com/developers/gitignore/api/ros2
# Edit at https://www.toptal.com/developers/gitignore?templates=ros2
### C++ ###
# Prerequisites
*.d
# Compiled Object files
*.slo
*.lo
*.o
*.obj
# Precompiled Headers
*.gch
*.pch
# Compiled Dynamic libraries
*.so
*.dylib
*.dll
# Fortran module files
*.mod
*.smod
# Compiled Static libraries
*.lai
*.la
*.a
*.lib
# Executables
*.exe
*.out
*.app
### CLion ###
# Covers JetBrains IDEs: IntelliJ, RubyMine, PhpStorm, AppCode, PyCharm, CLion, Android Studio, WebStorm and Rider
# Reference: https://intellij-support.jetbrains.com/hc/en-us/articles/206544839
# User-specific stuff
.idea/**/workspace.xml
.idea/**/tasks.xml
.idea/**/usage.statistics.xml
.idea/**/dictionaries
.idea/**/shelf
# AWS User-specific
.idea/**/aws.xml
# Generated files
.idea/**/contentModel.xml
# Sensitive or high-churn files
.idea/**/dataSources/
.idea/**/dataSources.ids
.idea/**/dataSources.local.xml
.idea/**/sqlDataSources.xml
.idea/**/dynamic.xml
.idea/**/uiDesigner.xml
.idea/**/dbnavigator.xml
# Gradle
.idea/**/gradle.xml
.idea/**/libraries
# Gradle and Maven with auto-import
# When using Gradle or Maven with auto-import, you should exclude module files,
# since they will be recreated, and may cause churn. Uncomment if using
# auto-import.
# .idea/artifacts
# .idea/compiler.xml
# .idea/jarRepositories.xml
# .idea/modules.xml
# .idea/*.iml
# .idea/modules
# *.iml
# *.ipr
# CMake
cmake-build-*/
# Mongo Explorer plugin
.idea/**/mongoSettings.xml
# File-based project format
*.iws
# IntelliJ
out/
# mpeltonen/sbt-idea plugin
.idea_modules/
# JIRA plugin
atlassian-ide-plugin.xml
# Cursive Clojure plugin
.idea/replstate.xml
# SonarLint plugin
.idea/sonarlint/
# Crashlytics plugin (for Android Studio and IntelliJ)
com_crashlytics_export_strings.xml
crashlytics.properties
crashlytics-build.properties
fabric.properties
# Editor-based Rest Client
.idea/httpRequests
# Android studio 3.1+ serialized cache file
.idea/caches/build_file_checksums.ser
### CLion Patch ###
# Comment Reason: https://github.com/joeblau/gitignore.io/issues/186#issuecomment-215987721
# *.iml
# modules.xml
# .idea/misc.xml
# *.ipr
# Sonarlint plugin
# https://plugins.jetbrains.com/plugin/7973-sonarlint
.idea/**/sonarlint/
# SonarQube Plugin
# https://plugins.jetbrains.com/plugin/7238-sonarqube-community-plugin
.idea/**/sonarIssues.xml
# Markdown Navigator plugin
# https://plugins.jetbrains.com/plugin/7896-markdown-navigator-enhanced
.idea/**/markdown-navigator.xml
.idea/**/markdown-navigator-enh.xml
.idea/**/markdown-navigator/
# Cache file creation bug
# See https://youtrack.jetbrains.com/issue/JBR-2257
.idea/$CACHE_FILE$
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# https://plugins.jetbrains.com/plugin/12206-codestream
.idea/codestream.xml
# Azure Toolkit for IntelliJ plugin
# https://plugins.jetbrains.com/plugin/8053-azure-toolkit-for-intellij
.idea/**/azureSettings.xml
### CMake ###
CMakeLists.txt.user
CMakeCache.txt
CMakeFiles
CMakeScripts
Testing
Makefile
cmake_install.cmake
install_manifest.txt
compile_commands.json
CTestTestfile.cmake
_deps
### CMake Patch ###
# External projects
*-prefix/
### ROS2 ###
install/
@ -16,7 +179,6 @@ build/
.cproject
# qcreator stuff
CMakeLists.txt.user
srv/_*.py
*.pcd
@ -33,6 +195,27 @@ qtcreator-*
COLCON_IGNORE
AMENT_IGNORE
# End of https://www.toptal.com/developers/gitignore/api/ros2
### VisualStudioCode ###
.vscode/*
!.vscode/settings.json
!.vscode/tasks.json
!.vscode/launch.json
!.vscode/extensions.json
!.vscode/*.code-snippets
# Local History for Visual Studio Code
.history/
# Built Visual Studio Code Extensions
*.vsix
### VisualStudioCode Patch ###
# Ignore all local history of files
.history
.ionide
# End of https://www.toptal.com/developers/gitignore/api/ros2,c++,cmake,visualstudiocode,clion
.cache
.ccls-cache
.vscode

28
src/btree_nodes/src/Extensions.cpp
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@ -50,13 +50,13 @@ namespace BT {
}
auto pose = std::make_shared<geometry_msgs::msg::Pose>();
pose->orientation.w=0;
pose->orientation.x=0;
pose->orientation.y=1;
pose->orientation.z=0;
pose->position.x= convertFromString<double>(parts[0]);
pose->position.y= convertFromString<double>(parts[1]);
pose->position.z= convertFromString<double>(parts[2]);
pose->orientation.w = 0;
pose->orientation.x = 0;
pose->orientation.y = 1;
pose->orientation.z = 0;
pose->position.x = convertFromString<double>(parts[0]);
pose->position.y = convertFromString<double>(parts[1]);
pose->position.z = convertFromString<double>(parts[2]);
std::cout << "[ generated pose from string ]" << std::endl;
@ -71,9 +71,9 @@ namespace BT {
}
auto point = std::make_shared<geometry_msgs::msg::Point>();
point->x= convertFromString<double>(parts[0]);
point->y= convertFromString<double>(parts[1]);
point->z= convertFromString<double>(parts[2]);
point->x = convertFromString<double>(parts[0]);
point->y = convertFromString<double>(parts[1]);
point->z = convertFromString<double>(parts[2]);
return point;
}
@ -86,10 +86,10 @@ namespace BT {
}
auto point = std::make_shared<geometry_msgs::msg::Quaternion>();
point->w= convertFromString<double>(parts[0]);
point->x= convertFromString<double>(parts[1]);
point->y= convertFromString<double>(parts[2]);
point->z= convertFromString<double>(parts[3]);
point->w = convertFromString<double>(parts[0]);
point->x = convertFromString<double>(parts[1]);
point->y = convertFromString<double>(parts[2]);
point->z = convertFromString<double>(parts[3]);
return point;
}

5
src/gaz_simulation/world/gaz_ign.sdf
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@ -247,12 +247,9 @@
<pose>0 1 1.25 0 0 0</pose>
<skin>
<filename>https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor/tip/files/meshes/walk.dae</filename>
<filename>/home/ros/go.dae</filename>
<scale>1.0</scale>
</skin>
<animation name="walk">
<filename>https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor/tip/files/meshes/walk.dae</filename>
</animation>
<plugin name="ActorSystem" filename="/home/ros/workspace/build/ign_actor_plugin/libActorPlugin.so">
<target>2 2 1</target>
<target_weight>1.15</target_weight>

18
src/ign_actor_plugin/src/ActorSystem.cpp
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@ -8,6 +8,9 @@
#define AnimationGoalPtr const std::shared_ptr<const ign_actor_plugin::action::Animation::Goal>
#define AnimationServerGoalPtr const std::shared_ptr<rclcpp_action::ServerGoalHandle<ign_actor_plugin::action::Animation>>&
#define MovementGoalPtr const std::shared_ptr<const ign_actor_plugin::action::Movement::Goal>
#define MovementServerGoalPtr const std::shared_ptr<rclcpp_action::ServerGoalHandle<ign_actor_plugin::action::Movement>>&
IGNITION_ADD_PLUGIN(
ActorSystem,
ignition::gazebo::System,
@ -41,8 +44,6 @@ void ActorSystem::Configure(const ignition::gazebo::Entity &_entity, const std::
node = rclcpp::Node::make_shared("moveService", topic);
#pragma clang diagnostic push
#pragma ide diagnostic ignored "UnusedValue"
animationServer = rclcpp_action::create_server<ign_actor_plugin::action::Animation>(
node,
"animation",
@ -58,12 +59,17 @@ void ActorSystem::Configure(const ignition::gazebo::Entity &_entity, const std::
}
);
movementServer rclcpp_action::create_server<ign_actor_plugin::action::Movement>(
movementServer = rclcpp_action::create_server<ign_actor_plugin::action::Movement>(
node,
"movement",
[](rclcpp_action::GoalUUID goalUuid, )
)
#pragma clang diagnostic pop
[](rclcpp_action::GoalUUID goalUuid, MovementGoalPtr &movementGoal ){
return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE;
},
[](MovementServerGoalPtr goalUuid ){
return rclcpp_action::CancelResponse::ACCEPT;
},
[](MovementServerGoalPtr goalUuid ){}
);
printf("Spinning node...\n");
std::thread spinThread([this]() {